JPH05130701A - Control method of material handler in electric conveying vehicle - Google Patents

Abstract

PURPOSE:To reduce the cost of entire system and to miniaturize an electric conveying vehicle by arranging an inverter only at a material handling site on a travel path thereby performing speed control of a material handler. CONSTITUTION:When an electric conveying vehicle 3 stops at a work site, a current collecting unit 17 and a current collector 22 slide on the feeder line 9a and the signal line 9b in elevation driving feeder lines 9 laid at the work site. Under that state, an elevation driving controller 24 can feed power through an inverter 23 to the induction motor 20 in an elevation driver 11 to drive a unit to be conveyed while being suspended. Since each electric conveying vehicle is fed with power through a ground side inverter at a common work site, cost reduction of entire system and miniaturizing of each electric conveying vehicle can be done as compared with a system wherein an inverter for material handler is mounted on each electric conveying vehicle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plurality of transport trains on the same travel route, which are equipped with an induction motor connected to a power supply line via a current collecting unit and a load handling device linked to the induction motor. The present invention relates to a control method for operating a load handling device of a transport train in a loading / unloading place or the like set in a travel route in a transport system configured to run.

[0002]

2. Description of the Related Art In a conventional transfer system of this type, the speed of the load handling device is equipped with an inverter for controlling the speed of the load handling device in each transport train and is operated at an unloading place or the like. The control was carried out by an inverter mounted on the transportation train.

In such a conventional control method, since an inverter for speed control, which is relatively bulky and expensive, is mounted on every carrier train, it is difficult to reduce the size and weight of each carrier train. Not only that, but the whole system becomes very expensive. In addition, since it is necessary to set the speed for the inverters installed on all trains, it takes a lot of time and effort to set the speed. In particular, when it is necessary to change the set speed during work, it is possible to deal with it in real time. I can't do it.

[0004]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, and its features will be shown by the reference numerals of the embodiments described later. A method of controlling a load handling device in a transport train according to the present invention is a transport method in which a load handling device (transported object suspension device 6) driving induction motor 20 connected to a power supply line 9 via a current collection unit 17 is mounted. In a transport system in which a plurality of service trains 3 are allowed to travel on the same travel route, only a work place 7 in which a cargo handling device (transported object suspension device 6) is operated in the travel route of the transport train 3. The power supply line 9 is laid, and the speed control inverter 23 is interposed in the power supply system to the power supply line 9, and the load handling device driving induction motor 20 of the transportation train 3 at the work place 7 is connected to the inverter 23. The speed is controlled by It is an.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings. In FIG. 1, reference numeral 1 is a guide rail installed in a ceiling space and connected to a power supply device not shown. A required number of traveling drive power supply lines 2 are laid along the length direction. Reference numeral 3 denotes a transport train movably supported by the guide rails 1, and each transport train 3 includes:
As a load handling device, an ascending / descending transported object suspending device 6 equipped with an openable / closable hanger 5 for suspending the transported object 4 is provided.

A work place 7 for loading and unloading the transported object 4 by operating the transported object suspension device 6 is set in the traveling path of the transportation train 3, and is set on the guide rail 1. In addition to the traveling drive power supply line 2, the suspension device drive power supply line 9 connected to the power supply device 8 is laid only in the work place 7.

As shown in FIG. 2, the transport train 3 is equipped with a traveling drive device 10 and a lift drive device 11 for the device 6 for suspending an object to be transported. The traveling drive device 10
Is a current collecting unit 1 that is in sliding contact with the traveling drive power supply line 2.
2, an induction motor 14 that drives the traveling drive wheels 13, an inverter 15 interposed between the induction motor 14 and the current collecting unit 12, and a traveling drive control device 16 that controls the inverter 15. Has been done. Further, the suspension device driving power supply line 9 includes a power supply line 9a and a signal line 9b, and the lifting drive device 11 slidably contacts with the power supply line 9a of the suspension device driving power supply line 9.
7. Suspension belt 1 for suspending the transported object suspension device 6
A pulley 19 for winding and unwinding 8, an induction motor 20 that is connected to the current collecting unit 17 and drives the pulley 19, and a sensor that detects a lower limit position and an upper limit position of the transported object suspension device 6. 21 and a current collector 22 connected to the sensor 21 and in sliding contact with the signal line 9b.

The power supply device 8 converts the frequency of the alternating current supplied to the power supply line 9a of the suspension device driving power supply line 9 to provide on the respective transportation trains 3 connected to the power supply line 9a. A speed control inverter 23 that changes the rotation speed of the elevation drive induction motor 20 is provided. Reference numeral 24 is a lifting drive control device connected to the signal line 9b, and the inverter 23 is controlled based on a control signal from the control device 24.

In the transport system configured as described above, the drive unit 10 of each transport train 3 is connected to the induction motor 14 of the drive unit 10 from the drive line 2 for drive to collect the power.
By loading an AC voltage through the inverter 2 and the inverter 15, the induction motor 14 is operated to drive the drive wheels 13 for rotation, thereby causing the transport train 3 to travel along the guide rails 1. You can The traveling speed at this time, the stop at the work place 7 and the work place 7
The start control from the vehicle is automatically performed by the traveling drive control device 16 controlling the inverter 15 based on a traveling control signal given from the ground side to the transportation train 3 at a predetermined position in the traveling route. Be seen. As the travel control signal, for example, a detection signal when a sensor on the side of the transportation train 3 detects a travel control detection target object arranged beside the travel route can be used.

When the transport train 3 is stopped at the work place 7, the current collecting unit 17 and the current collector 22 in the lift drive device 11 of the transport train 3 are used for the lift drive which is laid only at the work place 7. The power supply line 9 is in sliding contact with the power supply line 9a and the signal line 9b. In this state, the elevation drive control device 24 supplies an alternating current to the power supply line 9a via the inverter 23, and the induction motor 2 of the elevation drive device 11 via the power collection line 17 from the power supply line 9a.
By feeding power to 0, it is possible to drive the pulley 19 by the induction motor 20 to feed the hanging belt 18 and lower the carried object hanging device 6.

When the object suspending device 6 descends to the lower limit, the lower limit reaching signal of the sensor 21 is input to the controller 24 via the current collector 22 and the signal line 9b. Cuts off the power supply to the induction motor 20 via the inverter 23, and the carried object suspension device 6
The descent drive of is automatically stopped. When the loading and unloading of the transported object is completed, the control device 24 supplies an alternating current to the power supply line 9a through the inverter 23 in the reverse rotation direction, and the induction is performed from the power supply line 9a through the current collecting unit 17. By feeding power to the electric motor 20, the pulley 19 can be reversely rotated by the induction motor 20 to wind up the hanging belt 18 and raise the carried object hanging device 6.
When the transported object suspension device 6 rises to the rising limit, the rising limit reaching signal of the sensor 21 is input to the control device 24 via the current collector 22 and the signal line 9b. The power supply to the induction motor 20 is cut off via 23, and the ascending drive of the carried object suspension device 6 is automatically stopped.

The start signal of the induction motor 20 for raising and lowering the drive can also be given to the control device 24 from the transport train 3 side through the signal line 9b. In addition, the transported object suspension device 6
The ascending / descending speed of the ascending / descending driving of the
Based on the suspension device current position signal provided to the control device 24 from the signal line 1 through the signal line 9b, the control device 24 can automatically change gears via the inverter 23. Further, when an induction motor for opening and closing the hanger 5 is mounted on the transported object suspension device 6, a power supply control means for the opening / closing drive induction motor, which is the same as the power supply control means for the lifting drive induction motor 20, is provided. It is possible to set up an annex.

In the above-described embodiment, the inverter 15 for controlling the induction motor 14 of the traveling drive device 10 is connected to each of the transport trains 3.
However, instead of the inverter 15, a single inverter 25 is provided in the ground side power supply device for the traveling drive power supply line 2 as shown by a virtual line in FIG. It is also possible to collectively control the traveling speeds of the plurality of transport trains 3 that are fed from the power feeding line 2.

[0014]

As described above, according to the method of controlling the load handling device in the transport train of the present invention, the work place for operating the load handling device, that is, the work place common to each transport train. The electric power is supplied only to the induction motor for driving the load handling device of the transportation train that arrives at, via the ground-side speed control inverter and the power supply line.
This single inverter on the ground side can control the induction motors for driving the load handling devices of all the transportation trains that have arrived at the work place. Therefore, compared to the case where an inverter for controlling the speed of an induction motor for driving a load handling device must be installed in each transportation train, the cost of the entire system can be significantly reduced and each transportation train can be reduced. It becomes easy to reduce the size and weight.

Since the speed adjustment can be performed only by adjusting one inverter on the ground side, the speed can be adjusted easily and easily and at the same time, the operating speed of the load handling device between the transport trains due to the inverter misadjustment can be improved. There is no variation. Further, even when the cargo handling device of the transportation train is operated at the work place to perform a predetermined cargo handling work, it is easy and easy to adjust the load handling device operating speed in real time without stopping the cargo handling work. You can do it.

[Brief description of drawings]

FIG. 1 is a schematic side view illustrating a transfer system.

FIG. 2 is a block diagram illustrating a configuration of each transport train and a power supply control system.

[Explanation of symbols]

 1 Guide Rail 2 Travel Drive Power Supply Line 3 Transport Train 6 Transported Object Suspension Device (Load Handling Device) 7 Work Place 8 Power Supply Device 9 Elevation Drive Power Supply Line 9a Power Supply Line 9b Signal Line 10 Travel Drive Device 11 Elevation Drive Device 12, 17 Current collecting unit 13 Traveling drive wheel 14 Traveling drive induction motor 15, 23, 25 Inverter 16 Traveling drive control device 19 Suspending belt take-up and feeding pulley 20 Elevating drive induction motor 21 Various sensors 22 Collection electron 24 Control device for lifting drive

Claims (1)

[Claims] 1. A transport system in which a plurality of transport trains, each of which has an induction motor for driving a cargo handling device connected to a power supply line through a current collecting unit, are allowed to travel on the same travel route. The power supply line is laid only at the work place where the load handling device is operated in the traveling route of the train, and the speed control inverter is interposed in the power supply system to the power supply line, so that the load of the transport train at the work place is reduced. A method for controlling a load handling device in a transportation train, wherein the speed of an induction motor for driving a handling device is controlled by the inverter.